A fly-by-light integrated flight control system

Abstract

The application relates to the technical field of unmanned communication navigation control, in particular to a communication, navigation and vision integrated flight control system, which comprises a sensor module, a communication module, an image transmission module and a navigation flight control module; the sensor module collects unmanned aerial vehicle (UAV) environment state information and sends the information to the navigation flight control module; the communication module communicates with a ground remote control terminal; the navigation flight control module comprises an image coding processing core and a dual-core processor; the image transmission module collects and sends environment images; the environment images are subjected to coding compression processing of the image coding processing core to form image data and depth images; the dual-core processor comprises a navigation core and a flight control core; the navigation core obtains a trajectory tracking instruction and sends the instruction to the flight control core; the flight control core controls the power of the UAV according to the UAV environment state information and the trajectory tracking instruction; the application can improve the stability and reliability of the UAV platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned communication navigation control, and particularly relates to a navigation-communication-vision integrated flight control system. BACKGROUND

[0002] In the modern aviation and aerospace field, the navigation, control and communication of aircraft are key technologies, which are crucial for precise flight, task execution and data transmission. Traditionally, these functions are often completed by independent subsystems or devices, such as GPS navigation systems, inertial measurement units (IMU), communication devices and vision sensors. However, due to compatibility problems between individual components, especially in unmanned aerial vehicles and autonomous flight systems, there are great reliability problems in the dispersedly connected components. The navigation-communication-vision integrated flight control system is usually designed as a Plug-and-Fly system, which does not require complex installation and configuration process, and can be quickly deployed to different task scenarios, reducing the preparation time and adapting to the rapid response demand.

[0003] The flight control unit, communication unit, vision sensor and navigation unit adopted by the existing unmanned aerial vehicle platform are usually single devices, which need to be adapted according to the interface, protocol and other aspects, or the corresponding device adaptation driver is needed, resulting in a complicated, time-consuming and laborious system integration process. In addition, the existing flight control system is prone to response delay and task congestion problems due to insufficient computing resources when dealing with high-load image processing, navigation obstacle avoidance algorithm and real-time flight control at the same time. The lack of effective isolation and parallel processing mechanism between tasks further limits the stability and reliability of the system in complex environments, making it difficult to meet the high requirements of flight control and navigation perception. SUMMARY

[0004] In view of the above problems, the present application provides a navigation-communication-vision integrated flight control system, which solves the technical problem of poor stability and reliability of the existing unmanned aerial vehicle platform when performing multiple tasks.

[0005] The present application provides a navigation-communication-vision integrated flight control system, which includes a sensor module, a communication module, an image transmission module and a navigation flight control module.

[0006] The sensor module collects the environmental state information of the unmanned aerial vehicle and sends it to the navigation flight control module.

[0007] The communication module communicates with the ground remote control terminal, sends the flight state and image data, and receives the control data.

[0008] The navigation flight control module comprises an image coding processing core and a dual-core processor; the image transmission module collects and sends environment images to the navigation flight control module, the environment images are subjected to coding compression processing of the image coding processing core to form image data and a depth image, the image data is sent to the communication module; and the depth image is sent to the dual-core processor;

[0009] The dual-core processor comprises a navigation core and a flight control core, the navigation core receives and performs path planning according to the depth image, and sends a trajectory tracking instruction obtained to the flight control core;

[0010] The flight control core receives the unmanned aerial vehicle environment state information, controls the power of the unmanned aerial vehicle according to the unmanned aerial vehicle environment state information and the trajectory tracking instruction, and the operation frequency of the navigation core is less than that of the flight control core.

[0011] Preferably, the operation frequency of the navigation core is 10-50 Hz, and the operation frequency of the flight control core is 400-1000 Hz.

[0012] Preferably, the sensor module comprises an inertial sensor, a barometer, a satellite antenna and an optical flow sensor; the satellite antenna is a GNSS receiver; the inertial sensor and the barometer transmit information to the navigation flight control module through an SPI interface; and the satellite antenna and the optical flow sensor transmit information to the navigation flight control module through a UART interface.

[0013] The unmanned aerial vehicle environment state information comprises inertial information, air pressure, satellite positioning and optical flow information.

[0014] Preferably, the communication module comprises a main communication antenna, an auxiliary communication antenna and a radio frequency processing unit, the main communication antenna and the auxiliary communication antenna are respectively used for receiving and transmitting flight states and image data, and the radio frequency processing unit comprises a wireless baseband and a 2.4G RF radio frequency transceiver.

[0015] Preferably, the communication mode of the communication module and the ground remote control terminal comprises that the communication module receives control data transmitted by the ground remote control terminal, and the communication module sends the flight state of the unmanned aerial vehicle to the ground remote control terminal and the communication module sends image data to the ground remote control terminal.

[0016] Preferably, the image transmission module comprises a plurality of visible light infrared cameras, and the environment images are sent to the navigation flight control module through a visible light infrared camera interface, and the visible light infrared camera interface is an MIPI interface.

[0017] Preferably, the flight control core comprises a state estimation module, a mode scheduling module and a bottom control module; the state estimation module receives the unmanned aerial vehicle environment state information sent by the sensor module and runs a Kalman filtering algorithm to generate the flight state; the flight state comprises state values of the current position, speed and attitude of the unmanned aerial vehicle;

[0018] The mode scheduling module determines the expected control information according to the operation mode and sends the expected control information to the bottom flight control module; the expected control information comprises an expected position and an expected speed;

[0019] The bottom control module controls the unmanned aerial vehicle power according to the expected control information.

[0020] Preferably, it further comprises a USB interface 1, a cooling fan interface 2, an external LED interface 4, a memory chip 5, a CAN interface 6, a power supply 12, a main PWM interface 14, an LED status lamp 15, a secondary PWM interface 16, a core board connector 17 and a bottom plate connector 18.

[0021] The USB interface 1 is used to connect a computer, the cooling fan interface 2 is connected with a cooling fan, the external LED interface 4 is connected with a breathing lamp, the CAN interface 6 is connected with a GPS; the main PWM interface 14 and the secondary PWM interface output square wave signals to control the motor; the LED status lamp 15 displays different flight control states; the core board connector 17 and the bottom plate connector 18 are used for pin connection of the bottom plate and the core board; and the memory chip 5 can save the flight state log.

[0022] Preferably, a multi-core processing method of the integrated flight control system is also provided, which comprises the following steps:

[0023] Step S1, the image coding processing core receives the original environment image collected by the image transmission module, obtains a depth point cloud through depth extraction processing, and sends the depth point cloud to the navigation core;

[0024] Step S2, the navigation core receives the flight state sent by the flight control core, and generates a probability grid map according to the flight state and the depth point cloud;

[0025] The navigation core runs a path planning algorithm according to the probability grid map, generates a smooth obstacle avoidance flight trajectory, and sends the smooth obstacle avoidance flight trajectory to the flight control core;

[0026] Step S3, the mode scheduling module of the flight control core judges whether the smooth obstacle avoidance flight trajectory sent by the navigation core is received; when the smooth obstacle avoidance flight trajectory is not received, the expected control information provided by the current ground remote control terminal is sent to the bottom flight control module; when the smooth obstacle avoidance flight trajectory is received, the expected control information is generated according to the smooth obstacle avoidance flight trajectory and is transmitted to the bottom flight control module;

[0027] Step S4, the bottom layer flight control module calculates control instructions according to the expected control information and sends the control instructions to the motor and rudder of the unmanned aerial vehicle.

[0028] Preferably, the step of generating the smooth obstacle-avoiding flight trajectory in step S2 specifically comprises:

[0029] The navigation core judges whether the current flight of the unmanned aerial vehicle will collide with obstacles in the probability grid map, and if it is predicted that a collision will occur, the navigation core starts the obstacle-avoiding algorithm, searches for an optimal reference path on the local map by using the A* algorithm, and fits the optimal reference path by using a polynomial spline trajectory to obtain the smooth obstacle-avoiding flight trajectory.

[0030] Compared with the prior art, the present application has at least the following beneficial effects:

[0031] (1) The present application adopts a multi-core processing architecture, effectively separates the computationally intensive navigation and environmental perception algorithms from the flight control method which has extremely high real-time requirements, and independently runs them on different cores. This core separation design fully releases the computing power resources of the system, while realizing the isolation of high computing and high real-time tasks, greatly improving the response speed of the system, ensuring the stability and reliability of the flight control part, and reducing the risk of flight control delay caused by resource occupation of navigation planning.

[0032] (2) The present application adopts a highly integrated integrated package, integrates the data processing unit of the core, sensor information acquisition, flight control, image processing and fusion, wireless communication and other function modules in the same system. The system supports multiple hardware interfaces and rich software functions, can realize aerial video compression, control signal processing and wireless data transmission, and is ready to use throughout the power supply, greatly improving the integration and versatility of the equipment, and bringing great convenience for the application and maintenance of the unmanned aerial vehicle.

[0033] (3) The present application improves the high reliability and applicability of the system. Through the cooperative optimization of hardware and software, the ability of the module in real-time data acquisition, analysis and transmission is improved, and the independence and stability of the bottom layer flight control algorithm are guaranteed, effectively preventing mutual interference between algorithms, and significantly improving the flight safety and task completion ability of the unmanned aerial vehicle in complex environments. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are included to provide a further understanding of the embodiments, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application, and together with the description serve to explain the principles of the application.

[0035] Figure 1 The present application provides a flight control function block diagram of a navigation, guidance and vision integrated flight control system.

[0036] Figure 2 The present application provides a hardware schematic diagram of a navigation, guidance and vision integrated flight control system.

[0037] Figure 3 The core board schematic diagram of the integrated flight control system of communication, navigation and vision provided by the application.

[0038] Figure 4 The bottom board schematic diagram of the integrated flight control system of communication, navigation and vision provided by the application.

[0039] Figure 5 The flight control distributed computing framework schematic diagram of the integrated flight control system of communication, navigation and vision provided by the application.

[0040] The figure mark: 1-USB interface, 2-heat dissipation fan interface, 3-main control SOC, 4-external LED interface, 5-memory chip, 6-CAN interface, 7-main communication antenna interface, 8-satellite antenna interface, 9-vice communication antenna interface, 10-visible light infrared camera interface, 11-inertial sensor, 12-power supply, 13-optical flow sensor interface, 14-main PWM interface, 15-LED status lamp, 16-vice PWM interface, 17-core board connector, 18-bottom board connector, 19-GNSS receiving chip. DETAILED DESCRIPTION

[0041] In order to enable the above-mentioned purposes, features and advantages of the present application to be more clearly understood, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict. In addition, the present application can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0042] The present application proposes a communication, navigation and vision integrated unmanned aerial vehicle flight control system, which adopts a distributed computing architecture, integrates DSP real-time processing and compressed double camera image acquisition to obtain environmental depth information, and utilizes double-core CPU to independently run navigation obstacle avoidance planning algorithm and flight control algorithm respectively, and realizes efficient task cooperation and data intercommunication through inter-core communication. At the same time, the system integrates flight control data link, precise flight control and high-speed image encoding transmission functions. The scheme realizes real-time stable communication, visual perception and autonomous navigation in the flight control system, effectively improves the autonomous flight capability, flight control stability and overall system performance of the unmanned aerial vehicle in complex environment.

[0043] In order to illustrate the effectiveness of the present application, the above technical solutions of the present application are described in detail below through a specific embodiment, such as Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown, a flight control system integrating navigation and vision is disclosed, which comprises a sensor module, a communication module, an image transmission module and a navigation flight control module.

[0044] The sensor module comprises an inertial sensor, a barometer, a satellite antenna and an optical flow sensor, etc., and can collect inertial information, air pressure, satellite positioning and optical flow information.

[0045] In some embodiments, the inertial sensor and the barometer transmit information to the navigation flight control module through an SPI interface; the satellite antenna and the optical flow sensor transmit information to the navigation flight control module through a UART interface.

[0046] In some embodiments, the satellite antenna is specifically a GNSS receiving chip, which is used for accurately positioning the position of the unmanned aerial vehicle.

[0047] The communication module communicates with the ground remote control terminal.

[0048] The communication mode of the communication module and the ground remote control terminal of the present application can include: the communication module receives the control data transmitted by the ground remote control terminal, the communication module issues the flight state of the unmanned aerial vehicle to the ground remote control terminal, and the communication module issues the image data to the ground remote control terminal.

[0049] The flight state can include the spatial position, attitude, flight speed, etc.

[0050] The control data can include instruction information for controlling the flight state of the unmanned aerial vehicle, which is sent to the communication module by the ground remote control terminal.

[0051] The communication module can include a radio frequency processing unit contained in the main control chip, including a wireless baseband and a 2.4G RF radio frequency transceiver.

[0052] The image transmission module comprises a plurality of visible light or infrared cameras, and the plurality of visible light or infrared cameras can shoot multi-view visible light or infrared images and transmit data through a visible light infrared camera interface.

[0053] In some embodiments, the visible light infrared camera interface can be a MIPI interface.

[0054] The images shot by the cameras of the image transmission module can be transmitted to the navigation flight control module, compressed video streams are obtained through a hardware encoding unit of an image encoding processing core of the navigation flight control module, and the compressed video streams are sent to the communication module by the image transmission module.

[0055] The integrated flight control system of the application further comprises a master SOC, a memory chip and a GNSS receiving chip, and the GNSS receiving chip is used for receiving a satellite antenna.

[0056] The master SOC comprises a dual-core processor, an image encoding processing core and a radio frequency processing unit.

[0057] In some embodiments, the dual-core processor of the master SOC of the application can be a dual-core Cortex-M7, the image encoding processing core comprises a hardware encoding unit and an image processor, and the radio frequency processing unit is used for forming a communication part of the communication module.

[0058] The navigation flight control module comprises a dual-core processor and an image encoding processing core, and the communication module comprises a radio frequency processing unit.

[0059] As shown in Figure 5 The dual-core processor of the application allocates the navigation and obstacle avoidance functions and the flight control function to different cores for processing, and the dual-core processor comprises a navigation core and a flight control core.

[0060] The navigation core is responsible for receiving a depth image processed by the image processor, generating an environment obstacle map, and then iteratively generating a UAV obstacle avoidance trajectory through a nonlinear optimization method, and this part has a large amount of calculation due to the design of a large number of matrix calculations, and has a low frequency requirement because it generates a continuous motion trajectory for a period of time, and this part runs at a frequency of 10Hz.

[0061] The navigation core can send a trajectory tracking instruction formed by trajectory optimization to the flight control core through an inter-core communication mode, for controlling the power of the UAV.

[0062] The flight control core is responsible for receiving sensor information to calculate the current state of the UAV, and running control algorithms to calculate the motor and rudder control instructions required to maintain the stability of the UAV flight and send them to the motor and rudder to achieve stable control of the UAV. Since the motor and rudder require high-frequency continuous control, the control instruction calculation frequency requirement of this part is high, running at 400Hz.

[0063] In some embodiments, the flight control core can receive the UAV environment state information provided by the inertial sensor, barometer, satellite antenna, and optical flow sensor in the sensor module to calculate the flight state, and send the flight state to the navigation core through inter-core communication.

[0064] Through the design of the navigation and control module core, the low-frequency obstacle avoidance task with large calculation amount and the high-frequency flight control bottom layer control task with high real-time requirement are separated, ensuring the stable flight control of the UAV in the case of a large amount of core calculation resources occupied by the obstacle avoidance task. The specific implementation steps are described in detail as follows.

[0065] (1) The image processor receives the original environment image collected by the image transmission module, and obtains a depth point cloud through depth extraction processing, wherein the depth point cloud contains information about the depth distance between the UAV and the environment. The image processor sends the depth point cloud to the navigation core.

[0066] (2) The navigation core receives the flight state sent by the flight control core, generates a probability grid map according to the flight state and the depth point cloud, and the probability grid map is used to represent the obstacle information around the UAV.

[0067] The navigation core judges whether the current flight of the UAV will collide with the obstacles in the probability grid map. If it is predicted that a collision will occur, the navigation core starts the obstacle avoidance algorithm and searches for the optimal reference path on the local map using the A* algorithm. Through this step of path search, the optimal reference path for safe flight without collision can be generated.

[0068] The optimal reference path is fitted by a polynomial spline to obtain a smooth obstacle avoidance flight trajectory, so as to ensure that the UAV can avoid sudden obstacles in a dynamic environment.

[0069] The navigation core sends the smooth obstacle avoidance flight trajectory to the flight control core.

[0070] To ensure the real-time performance of the planning, the navigation core runs the above navigation and obstacle avoidance algorithm at a lower frequency. In some embodiments, the frequency of the navigation core running the navigation and obstacle avoidance algorithm is 10Hz.

[0071] (3) The flight control core includes a state estimation module, a mode scheduling module and a bottom control module. The state estimation module receives the unmanned aerial vehicle environment state information sent by the sensor module and runs the Kalman filtering algorithm to generate the state value of the current position, speed and attitude of the unmanned aerial vehicle.

[0072] The mode scheduling module processes according to the running mode. When the smooth obstacle avoidance flight trajectory sent by the navigation core is not received, the running mode is the manual control mode, and the mode scheduling module sends the expected control information (expected position, expected speed, etc.) provided by the current ground remote control terminal to the bottom flight control module.

[0073] When the smooth obstacle avoidance flight trajectory sent by the navigation core is received, the mode scheduling module generates expected control information according to the obstacle avoidance trajectory and transmits it to the bottom flight control module.

[0074] The bottom flight control module calculates the control command according to the expected control information and sends it to the motor and rudder of the unmanned aerial vehicle to realize stable control.

[0075] Since the motor and rudder need to be controlled continuously at high frequency, the flight control core has high requirements for the calculation frequency of the control command, and runs at 400Hz.

[0076] In some embodiments, the integrated flight control system of the present application further includes a storage unit, specifically, a memory chip. The storage unit is responsible for the storage of flight logs and flight parameters.

[0077] In some embodiments, the integrated flight control system of the present application further includes an LED status light, which indicates the running state of the system by displaying different flashing frequencies. When the system is initialized, the LED status light flashes quickly, and when it is running normally, it flashes at a frequency of 1Hz, intuitively reflecting the working state of the system.

[0078] In order to illustrate the effectiveness of the method of the present application, the above technical solutions of the present application are described in detail through a specific embodiment.

[0079] Example 1

[0080] This embodiment provides a hardware structure of an integrated flight control system of the present application, as shown in Figure 2 , Figure 3 and Figure 4 .

[0081] The hardware structure of the integrated flight control system includes a sensor module, a communication module, an image transmission module and a navigation flight control module.

[0082] The sensor module comprises a satellite antenna interface 8, an inertial sensor 11 and an optical flow sensor interface 13, the satellite antenna interface 8 is connected with a satellite antenna and can receive a satellite positioning signal, the optical flow sensor interface 13 is connected with an optical flow sensor and can receive an optical flow field for motion estimation, indoor positioning is realized; the inertial sensor 11 can acquire inertial information such as acceleration, angular velocity and attitude angle of the current unmanned aerial vehicle.

[0083] The communication module comprises a main communication antenna interface 7 and a secondary communication antenna interface 9, and can be connected with a main communication antenna and a secondary communication antenna, and is used for wireless communication of flight state and control data and image data with a ground remote control terminal.

[0084] The image transmission module comprises a visible light infrared camera interface 10 connected to a plurality of visible light or infrared cameras, and is used for shooting and transmitting image information.

[0085] The navigation flight control module comprises a main control SOC 3, a memory chip 5 and a GNSS receiving chip 19.

[0086] The hardware structure of the integrated flight control system of the application further comprises:

[0087] The USB interface 1, the cooling fan interface 2, the external LED interface 4, the CAN interface 6, the power supply 12, the main PWM interface 14, the LED state lamp 15, the secondary PWM interface 16, the core board connector 17 and the bottom plate connector 18.

[0088] The USB interface 1 is used for connecting a computer, performing parameter configuration and sensor calibration, etc.; the cooling fan interface 2 is connected with a cooling fan, the external LED interface 4 is connected with a breathing lamp, and the breathing lamp can display different flight control states; the CAN interface 6 is used for off-board backup and can be connected with a GPS; the main PWM interface 14 and the secondary PWM interface 16 are output interfaces of motor control signals, output square wave signals to control the motor; the LED state lamp 15 can also display different flight control states. The core board connector 17 and the bottom plate connector 18 are used for pin connection of the bottom plate and the core board.

[0089] The integrated flight control of the application adopts a distributed computing scheme, adopts integrated DSP to perform image processing and compression, and acquires environmental depth information in real time, then utilizes the advantages of dual-core CPU to respectively run a navigation and obstacle avoidance algorithm with large amount of calculation at low frequency and a flight control algorithm with high real-time requirement, one core receives the depth image information of the DSP and the positioning information of the unmanned aerial vehicle, and plans an obstacle avoidance flight trajectory in real time, then the flight trajectory is transmitted to the other CPU core in real time through inter-core communication, and the trajectory tracking method and the basic flight control method are run in the other core, meanwhile, the core is responsible for real-time interaction of the flight state and the ground control instruction with the chip communication unit, to realize real-time and stable communication in a single chip, visual perception and navigation functions.

[0090] The above is only an embodiment of the application, and common knowledge of specific structures and properties in the scheme is not described in detail, and the ordinary skilled person in the art knows all ordinary technical knowledge in the technical field of the application before the application date or the priority date, can know all prior art in the field, and has the ability to apply conventional experimental means before the date, and the ordinary skilled person in the art can improve and implement the scheme under the guidance of the application, and some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the application. It should be pointed out that, for those skilled in the art, without departing from the structure of the application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the application, and these will not affect the effect and practicality of the application. The protection scope claimed in the application should be subject to the content of the claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

[0091] Although the detailed implementation of the application describes each action or step in a specific order, it should be understood that the action or step is required to be performed in the specific order shown or in a sequential order, or all the illustrated actions or steps should be performed to obtain the desired results. In certain circumstances, multi-tasking and parallel processing can be advantageous. Similarly, although the above discussion contains a number of specific implementation details, these should not be interpreted as limiting the scope of the disclosure. Certain features described in the context of separate embodiments can also be combined in a single implementation. Conversely, various features described in the context of a single implementation can also be implemented separately or in any suitable sub-combination.

[0092] The above is only a preferred specific implementation of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the application.

Claims

1. A fly-by-wire and visual integrated flight control system, characterized in that, The application relates to a multi-core processing method of a navigation and flight control integrated system. The sensor module, the communication module, the image transmission module and the navigation flight control module are included. The sensor module collects unmanned aerial vehicle environment state information and sends the information to the navigation flight control module. The communication module communicates with a ground remote control terminal, sends flight state and image data and receives control data. The navigation flight control module includes an image coding processing core and a dual-core processor; the image transmission module collects and sends environment images to the navigation flight control module; the environment images are subjected to coding compression processing of the image coding processing core to form image data and depth images; and the image data is sent to the communication module. The depth images are sent to the dual-core processor. The dual-core processor includes a navigation core and a flight control core; the navigation core receives and executes path planning according to the depth images, and sends the obtained trajectory tracking instructions to the flight control core. The flight control core receives the unmanned aerial vehicle environment state information, controls the power of the unmanned aerial vehicle according to the unmanned aerial vehicle environment state information and the trajectory tracking instructions, the operation frequency of the navigation core is less than that of the flight control core. The operation frequency of the navigation core is 10-50 Hz, and the operation frequency of the flight control core is 400-1000 Hz. The multi-core processing method of the navigation and flight control integrated system includes the following steps: Step S1: the image coding processing core receives original environment images collected by the image transmission module, obtains depth point clouds through depth extraction processing, and sends the depth point clouds to the navigation core. Step S2: the navigation core receives the flight state sent by the flight control core, generates a probability grid map according to the flight state and the depth point clouds. The navigation core executes a path planning algorithm according to the probability grid map, generates a smooth obstacle avoidance flight trajectory, and sends the smooth obstacle avoidance flight trajectory to the flight control core. Step S3: the mode scheduling module of the flight control core judges whether the smooth obstacle avoidance flight trajectory sent by the navigation core is received; when the smooth obstacle avoidance flight trajectory is not received, the expected control information provided by the ground remote control terminal is sent to the bottom layer flight control module; when the smooth obstacle avoidance flight trajectory is received, the expected control information is generated according to the smooth obstacle avoidance flight trajectory, and is transmitted to the bottom layer flight control module. Step S4: the bottom layer flight control module calculates control instructions according to the expected control information, and sends the control instructions to the motors and rudders for controlling the power of the unmanned aerial vehicle.

2. The integrated fly-by-wire and optical fly-by-light flight control system of claim 1, wherein, The sensor module includes an inertial sensor, a barometer, a satellite antenna and an optical flow sensor; the satellite antenna is a GNSS receiver; the inertial sensor and the barometer transmit information to the navigation flight control module through an SPI interface; and the satellite antenna and the optical flow sensor transmit information to the navigation flight control module through a UART interface. The unmanned aerial vehicle environment state information includes inertial information, air pressure, satellite positioning and optical flow information.

3. The integrated fly-by-wire and optical fly-by-light flight control system of claim 2, wherein, The communication module includes a main communication antenna, a secondary communication antenna and a radio frequency processing unit; the main communication antenna and the secondary communication antenna are respectively used for transmitting and receiving flight state and image data; and the radio frequency processing unit includes a wireless baseband and a 2.4G RF radio frequency transceiver.

4. The integrated fly-by-sight flight control system according to claim 3, wherein The communication module receives control data transmitted by the ground remote control terminal, and the communication module sends the flight state of the unmanned aerial vehicle to the ground remote control terminal and the communication module sends image data to the ground remote control terminal.

5. The integrated fly-by-sight flight control system according to claim 4, wherein The image transmission module includes a plurality of visible light infrared cameras, and sends the environment image to the navigation flight control module through a visible light infrared camera interface, and the visible light infrared camera interface is an MIPI interface.

6. The integrated fly-by-sight flight control system according to claim 5, wherein, The flight control core includes a state estimation module, a mode scheduling module and a bottom control module; the state estimation module receives the unmanned aerial vehicle environment state information sent by the sensor module and runs a Kalman filtering algorithm to generate the flight state; the flight state includes the current position, speed and attitude state value of the unmanned aerial vehicle; The mode scheduling module determines the expected control information according to the running mode and sends it to the bottom flight control module; the expected control information includes: expected position and expected speed; The bottom control module controls the unmanned aerial vehicle power according to the expected control information.

7. The integrated fly-by-sight flight control system according to claim 6, wherein It also includes a USB interface (1), a cooling fan interface (2), an external LED interface (4), a memory chip (5), a CAN interface (6), a power supply (12), a main PWM interface (14), an LED status lamp (15), a secondary PWM interface (16), a core board connector (17), and a bottom plate connector (18); Wherein, the USB interface (1) is used to connect the computer, the cooling fan interface (2) is connected with the cooling fan, the external LED interface (4) is connected with the breathing lamp, the CAN interface (6) is connected with the GPS; The main PWM interface (14) and the secondary PWM interface output square wave signals to control the motor; The LED status lamp (15) displays different flight control states, the core board connector (17) and the bottom plate connector (18) are used for pin connection of the bottom plate and the core plate, and the memory chip (5) can save the flight state log.

8. The integrated fly-by-sight flight control system of claim 1, wherein, The step S2 of generating a smooth obstacle avoidance flight trajectory specifically includes: The navigation core judges whether the current flight of the unmanned aerial vehicle will collide with the obstacles in the probability grid map, if it is predicted that a collision will occur, the navigation core starts the obstacle avoidance algorithm, and uses the A* algorithm to search the optimal reference path on the local map; The smooth obstacle avoidance flight trajectory is obtained by polynomial spline trajectory fitting of the optimal reference path.

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